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+-
s(s a)
jω
K s-plane
a
s
s+
a2
K
4
2 1
σ
x x0
K=0 K=0
a2
K
4
X – denotes O L P
a a
2 2
a2
K
4
R(s) C(s)
+- G (s)
H (s)
R(s) K ( s 1)( s 2) C(s)
+- G ( s)
s ( s 3)( s 4)
jω
s-plane
Terminating Points of
Root Loci
Originating Points of
Root Loci X – denotes O L P
– denotes O L Z
jω
s-plane
e
cLin
toti
∞
mp
Asy
Break away point
K
180
300 60
∞ K
Asymptotic Line K=0
X
-2
K=0
X
-1
.
b = - 0. 423
K=0
X
0
σ
K
Asy
mp
toti
∞
c Li
ne
Centroid
X – denotes O L P
– denotes O L Z
jω
s-plane
Break away point
K=0
X j1
K
.
-3.414 K -2
-1 0 σ
X – denotes O L P
– denotes O L Z
X -j1
K=0
jω g(t)
Single Root
X
0 σ 0 t
jω g(t)
Double Root
XX
0 σ 0 t
jω g(t)
X Single pair of roots
0 σ 0 t
jω g(t)
XX
Double pair of roots
0 σ 0 t
XX
jω g(t)
s-plane
X
0 σ 0 t
X – denotes C L P
(or) Root of the
Characteristic
Equation
jω g(t)
s-plane
X
0 σ 0 t
X – denotes C L P
(or) Root of the
Characteristic
Equation
jω g(t)
X
0 σ 0 t
jω g(t)
X
0 σ 0 t
X
jω
p 135 s-plane
X j1
2 45
-1 0 σ
-2
X – denotes O L P
1 90 – denotes O L Z
X -j1
jω
Line
s-plane
P .
B jd
.
A
O σ
∞
jω
K
∞
e
As
K=0
Lin
ym
X j4
c
oti
pt
K
oti
pt
.
ym
cL
in
As
.
e
.
j 10
j 2.45 s-plane
j2
135
.
Complex Break
away points
45
K=0 K=0
X X
0 σ
-4 45
-2
. j 2.45
.
- j2
.
X – denotes O L P
– denotes O L Z
e
Lin
As
j 10
ym
c
oti
pt
pt
oti
ym
- j4
c
X
K
As
Lin
Centroid K=0
e
K
∞
∞
jω
. j6.24
∞
K
e
Lin
c
toti
mp
Asy
s-plane
180
Asymptotic Line
∞ K
K=0
X
-7 300
K=0
X
-4
60
.
b = - 2.27
-2
K=0
X
-1 0
σ
Centroid
Asy
X – denotes O L P
mp
.
∞
-j6.24
jω
∞
.
e
Lin
K
c
K =48 j2.83
toti
mp
Asy
ξ = 0.5 Line s-plane
cos cos 0.5 60
1 1
K = 8.33 . j1.16
180
K = 8.33
300
.
b
=-
.
60 0.
84 60
Asymptotic Line K=0 K=0 5
K=0 σ
X X -1 X
-4 -3 0
∞
- 4.67 -0.67
K -2
8
3.0
K=
Centroid
Break away point
Asy
X – denotes O L P
mp
toti
c Li
.
ne
K =48 -j2.83
K
∞
jω
. j√2
3
s-plane
=
K = 1 j1
4
K
41
K = 5.83 K=0 K=0
0.
X X
4 -2 -1 0 σ
K . 41
-2